Six-legged robot for service operations

New results on the development of an adaptive sixlegged hexagonal walking robot and its control system are presented. The major part of the paper considers control of foot force distribution and control of body motion based on the information about force foot reactions and the information about the main force vector acting on the robot's body. Inserting and drilling operations based on the force control are considered. Keywords: Walking robot, force sensing and control, active compliance and accommodation. the body vehicle and force reactions by interaction of handling and object, too. This report presents the results of the work carried out at the Fraunhofer-Institute for Factory Operation and Automation (Magdeburg, Germany), and also at joint research with the Institute for Mechanics of Moscow State University.